CN115018872B - Intelligent control method of dust collection equipment for municipal construction - Google Patents

Intelligent control method of dust collection equipment for municipal construction Download PDF

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CN115018872B
CN115018872B CN202210828753.6A CN202210828753A CN115018872B CN 115018872 B CN115018872 B CN 115018872B CN 202210828753 A CN202210828753 A CN 202210828753A CN 115018872 B CN115018872 B CN 115018872B
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蒋建军
蒋建华
蒋易成
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Jiangsu Shunlian Engineering Construction Co ltd
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Abstract

The invention relates to the field of intelligent control of devices, in particular to an intelligent control method of dust collection equipment for municipal construction.

Description

Intelligent control method for dust collection equipment for municipal construction
Technical Field
The application relates to the field of intelligent control of devices, in particular to an intelligent control method for dust collection equipment for municipal construction.
Background
Construction raise dust is one of the main particulate matter sources of urban atmosphere pollution at municipal construction site, can cause urban environmental pollution problem, consequently often can install dust collecting equipment in municipal construction site and remove dust. The sprayer is one of dust collecting equipment, and in the workman work progress, the sprayer is the operation all the time basically, and this can cause the waste of a large amount of electric resources and water resource, therefore awaits urgent need a dust collecting equipment intelligent control method for municipal construction.
Traditional municipal construction's dust collecting equipment is fixed, the distribution characteristic of raise dust is not considered, and only carry out the switch to dust collecting equipment, do not realize dust collecting equipment's accurate intelligent control, consequently, this scheme is through carrying out the analysis and calculation to raise dust distribution range according to wind speed and direction sensor data, raise dust concentration data and on-the-spot video monitoring image data, and obtain the sprayer working range under different wind speed and direction, different spraying angle and different power through the simulator simulation according to historical prior data, acquire the sprayer that needs carry out the spraying according to the distribution range of raise dust and sprayer working area, call this spraying and remove dust, realize the intelligent regulation and control of sprayer.
Disclosure of Invention
The invention provides an intelligent control method of dust collection equipment for municipal construction, which solves the problems that construction raise dust in a municipal construction site is not intelligent enough and resources are wasted, and adopts the following technical scheme:
acquiring a current frame image completely covering a municipal construction site;
obtaining the dust concentration of each pixel point in the current frame image by using the dust concentration of the dust concentration sensor in the current frame image;
carrying out edge detection on pixel points in the current frame image to obtain critical edge pixel points in the current frame image;
obtaining the probability that each pixel point is a raise dust pixel point according to the raise dust concentration of each pixel point in the current frame image and the Euclidean distance between the pixel point and the nearest edge pixel point in the critical edge pixel points;
carrying out threshold segmentation on the probability value of each pixel point in the current frame image as a raise dust pixel point, and dividing the pixel points in the current frame image into a determined raise dust pixel point, a raise dust pixel point to be corrected and a non-raise dust pixel point;
obtaining the actual moving distance of each raise dust pixel point to be corrected according to the wind speed and the wind direction, determining the moving distance of the raise dust pixel point to be corrected in the next frame of image, and correcting the raise dust concentration of each raise dust pixel point to be corrected by using the moving distance;
when the dust concentration of the determined raise dust pixel points and the corrected raise dust pixel points in the next frame of image is greater than the concentration threshold value, the distribution range of the determined raise dust pixel points and the corrected raise dust pixel points is obtained, and a spraying machine corresponding to the distribution range is called to suck dust in the range.
The method for obtaining the dust concentration of each pixel point in each frame image comprises the following steps:
acquiring a dust concentration sensor closest to the pixel point in the current frame image;
if the gray value of the pixel point is less than or equal to the gray value of the pixel point at the dust concentration sensor, the dust concentration of the pixel point is as follows:
Figure 57481DEST_PATH_IMAGE001
in the formula (I), the compound is shown in the specification,
Figure 553185DEST_PATH_IMAGE002
is as follows
Figure 613544DEST_PATH_IMAGE003
In the frame image
Figure 25940DEST_PATH_IMAGE004
The dust concentration of each pixel point is measured,
Figure 146343DEST_PATH_IMAGE005
is as follows
Figure 660501DEST_PATH_IMAGE003
In the frame image
Figure 511170DEST_PATH_IMAGE004
The position of each pixel point is determined,
Figure 528804DEST_PATH_IMAGE006
is as follows
Figure 85688DEST_PATH_IMAGE003
First of frame image
Figure 821562DEST_PATH_IMAGE007
The dust concentration detected by the dust concentration sensor
Figure 472992DEST_PATH_IMAGE007
A dust concentration sensor is connected with
Figure 345133DEST_PATH_IMAGE004
A dust concentration sensor with the nearest pixel point,
Figure 72918DEST_PATH_IMAGE008
is as follows
Figure 279777DEST_PATH_IMAGE003
First of frame image
Figure 485631DEST_PATH_IMAGE007
The position of each dust concentration sensor is arranged,
Figure 477858DEST_PATH_IMAGE009
is as follows
Figure 110964DEST_PATH_IMAGE003
First of frame image
Figure 805120DEST_PATH_IMAGE007
The position of the dust concentration sensor and
Figure 549085DEST_PATH_IMAGE004
the Euclidean distance between the positions of the pixel points;
if the gray value of the pixel point is greater than the gray value of the pixel point at the dust concentration sensor, the dust concentration of the pixel point is as follows:
Figure 926976DEST_PATH_IMAGE010
in the formula (I), the compound is shown in the specification,
Figure 735180DEST_PATH_IMAGE011
for correcting the parameters, the calculation method comprises the following steps:
Figure 932944DEST_PATH_IMAGE012
in the formula, the content of the active carbon is shown in the specification,
Figure 480600DEST_PATH_IMAGE013
is as follows
Figure 181839DEST_PATH_IMAGE004
The gray value of each pixel point is calculated,
Figure 406016DEST_PATH_IMAGE014
is the gray value of the pixel point at the dust concentration sensor,
Figure 825496DEST_PATH_IMAGE015
in the form of a function of the hyperbolic tangent,
Figure 176843DEST_PATH_IMAGE016
is a hyper-parameter.
The method for calculating the probability that each pixel point is a raise dust pixel point comprises the following steps:
Figure 247436DEST_PATH_IMAGE017
in the formula (I), the compound is shown in the specification,
Figure 658826DEST_PATH_IMAGE018
is as follows
Figure 565602DEST_PATH_IMAGE003
First of frame image
Figure 455061DEST_PATH_IMAGE019
The probability that each pixel is a dust pixel,
Figure 380160DEST_PATH_IMAGE020
is a first
Figure 696872DEST_PATH_IMAGE003
First of frame image
Figure 90944DEST_PATH_IMAGE019
The dust concentration of each pixel point is measured,
Figure 784094DEST_PATH_IMAGE021
is a first
Figure 566630DEST_PATH_IMAGE003
First of frame image
Figure 585401DEST_PATH_IMAGE019
The Euclidean distance between each pixel point and the critical edge pixel point is the nearest,
Figure 201190DEST_PATH_IMAGE015
in the form of a function of the hyperbolic tangent,
Figure 681719DEST_PATH_IMAGE022
and
Figure 332143DEST_PATH_IMAGE023
respectively dust concentration and distance weight.
The specific method for dividing the pixels in the current frame image into the determined raise dust pixels, the raise dust pixels to be corrected and the non-raise dust pixels is as follows:
setting a probability threshold
Figure 256237DEST_PATH_IMAGE024
And
Figure 359322DEST_PATH_IMAGE025
，
Figure 377963DEST_PATH_IMAGE026
；
if the probability value of the pixel point is larger than the probability threshold value
Figure 882893DEST_PATH_IMAGE024
The raise dust pixel point is a determined raise dust pixel point;
if the probability value of the pixel point is less than the probability threshold value
Figure 977888DEST_PATH_IMAGE024
And is greater than the probability threshold
Figure 83116DEST_PATH_IMAGE025
The raise dust pixel point is a raise dust pixel point to be corrected;
if the probability value of the pixel point is less than the probability threshold value
Figure 656180DEST_PATH_IMAGE025
The pixel points of (1) are non-dust-raising pixel points.
The method for correcting the flying dust concentration of each flying dust pixel point to be corrected comprises the following steps:
calculating the corresponding moving distance of the actual moving distance of each raise dust pixel point to be corrected from the current frame image to the next frame image according to the wind speed and the wind direction and the distance between each pixel point
Figure 15617DEST_PATH_IMAGE027
，
Figure 281514DEST_PATH_IMAGE028
Is the moving direction;
according to the moving distance of each raise dust pixel point to be corrected from the current frame image to the next frame image
Figure 339950DEST_PATH_IMAGE027
Correcting the flying dust concentration of each flying dust pixel point to be corrected, wherein the method comprises the following steps:
obtaining raise dust pixel points to be corrected
Figure 982284DEST_PATH_IMAGE029
Position of
Figure 461806DEST_PATH_IMAGE030
Position of dust concentration sensor
Figure 147872DEST_PATH_IMAGE031
，
Figure 712845DEST_PATH_IMAGE029
Is the ith frame image
Figure 362132DEST_PATH_IMAGE032
The raise dust pixel points to be corrected,
Figure 961741DEST_PATH_IMAGE008
is as follows
Figure 818707DEST_PATH_IMAGE003
First of frame image
Figure 870977DEST_PATH_IMAGE007
A dust concentration sensor;
according to the raised dust pixel point to be corrected
Figure 323955DEST_PATH_IMAGE029
Distance and direction of movement in the current frame image to the next frame
Figure 27338DEST_PATH_IMAGE029
Correcting the position of (a):
if it is
Figure 805938DEST_PATH_IMAGE033
，
Figure 345504DEST_PATH_IMAGE034
；
If it is
Figure 867752DEST_PATH_IMAGE035
，
Figure 428571DEST_PATH_IMAGE036
；
If it is
Figure 378072DEST_PATH_IMAGE037
，
Figure 873776DEST_PATH_IMAGE038
；
If it is
Figure 199715DEST_PATH_IMAGE039
，
Figure 612110DEST_PATH_IMAGE040
；
Figure 466934DEST_PATH_IMAGE041
For correcting dust pixel points
Figure 981092DEST_PATH_IMAGE029
The corrected position in the frame image is,
Figure 110722DEST_PATH_IMAGE042
is composed of
Figure 377624DEST_PATH_IMAGE027
In that
Figure 668928DEST_PATH_IMAGE043
A correction value in the direction of the direction,
Figure 404803DEST_PATH_IMAGE044
is composed of
Figure 72545DEST_PATH_IMAGE027
In that
Figure 459532DEST_PATH_IMAGE045
A correction value in a direction;
to-be-corrected raise dust pixel point
Figure 921738DEST_PATH_IMAGE029
The dust concentration of (2) is corrected, and the formula is as follows:
Figure 879330DEST_PATH_IMAGE046
in the formula (I), the compound is shown in the specification,
Figure 597100DEST_PATH_IMAGE047
in the ith frame image
Figure 589327DEST_PATH_IMAGE032
The corrected raise dust concentration of each raise dust pixel point to be corrected,
Figure 222433DEST_PATH_IMAGE006
is a first
Figure 932900DEST_PATH_IMAGE003
First of frame image
Figure 191712DEST_PATH_IMAGE007
The dust concentration detected by the dust concentration sensor,
Figure 772866DEST_PATH_IMAGE008
is a first
Figure 842454DEST_PATH_IMAGE003
First of frame image
Figure 758326DEST_PATH_IMAGE007
Position of dust concentration sensor
Figure 571561DEST_PATH_IMAGE031
，
Figure 538380DEST_PATH_IMAGE048
For dust concentration sensor
Figure 513289DEST_PATH_IMAGE008
In the position of
Figure 447616DEST_PATH_IMAGE031
And
Figure 798963DEST_PATH_IMAGE041
the euclidean distance between them.
The actual moving distance of each raise dust pixel point to be corrected corresponds to the moving distance from the current frame image to the next frame image
Figure 620289DEST_PATH_IMAGE027
The acquisition method comprises the following steps:
calculating the actual moving distance C of the raise dust pixel point to be corrected:
Figure 766099DEST_PATH_IMAGE049
in the formula (I), the compound is shown in the specification,
Figure 659493DEST_PATH_IMAGE050
which is the wind speed,
Figure 814531DEST_PATH_IMAGE051
the acquisition time for each frame of image;
the angle that is closest to the wind direction in eight angular directions of obtaining the raise dust pixel of waiting to revise, regard it as the moving direction of the raise dust pixel of waiting to revise in the image, eight angular directions are respectively:
Figure 959205DEST_PATH_IMAGE052
；
if the moving direction of the raise dust pixel point in the image to be corrected
Figure 790763DEST_PATH_IMAGE028
Is composed of
Figure 184835DEST_PATH_IMAGE053
，
Figure 877985DEST_PATH_IMAGE054
，
Figure 673903DEST_PATH_IMAGE055
，
Figure 410783DEST_PATH_IMAGE056
One of them is that the first and second electrodes are connected,the moving distance of the raise dust pixel point to be corrected in the frame image is as follows:
Figure 26573DEST_PATH_IMAGE057
in the formula (I), the compound is shown in the specification,
Figure 523413DEST_PATH_IMAGE027
for the moving distance of the raise dust pixel point in the frame image to be corrected,
Figure 423105DEST_PATH_IMAGE058
the distance between each pixel point in the frame image is taken as the distance;
if the moving direction of the raise dust pixel point to be corrected in the image is
Figure 81619DEST_PATH_IMAGE059
，
Figure 450284DEST_PATH_IMAGE060
，
Figure 485236DEST_PATH_IMAGE061
，
Figure 970925DEST_PATH_IMAGE062
One of them, the moving distance of the raise dust pixel point to be corrected in the frame image is:
Figure 65920DEST_PATH_IMAGE063
wherein the content of the first and second substances,
Figure 656301DEST_PATH_IMAGE058
the calculation method comprises the following steps:
Figure 744212DEST_PATH_IMAGE064
in the formula (I), the compound is shown in the specification,
Figure 369228DEST_PATH_IMAGE065
is the focal length of the camera and is,
Figure 369545DEST_PATH_IMAGE066
is the size of the camera sensor and is,
Figure 712802DEST_PATH_IMAGE067
is a valid pixel of the camera and is,
Figure 338824DEST_PATH_IMAGE068
is the arrangement height of the camera.
The above-mentioned
Figure 818347DEST_PATH_IMAGE027
In that
Figure 989565DEST_PATH_IMAGE043
Correction value in direction and
Figure 554539DEST_PATH_IMAGE027
in that
Figure 984252DEST_PATH_IMAGE045
The method for acquiring the correction value in the direction comprises the following steps:
Figure 583861DEST_PATH_IMAGE027
in that
Figure 925980DEST_PATH_IMAGE043
Correction value in direction
Figure 964868DEST_PATH_IMAGE042
The acquisition method comprises the following steps:
when in use
Figure 949005DEST_PATH_IMAGE027
In (1)
Figure 403120DEST_PATH_IMAGE028
Is composed of
Figure 181720DEST_PATH_IMAGE053
Or
Figure 704974DEST_PATH_IMAGE055
When the temperature of the water is higher than the set temperature,
Figure 227222DEST_PATH_IMAGE069
；
when the temperature is higher than the set temperature
Figure 535844DEST_PATH_IMAGE027
In
Figure 485345DEST_PATH_IMAGE028
Is composed of
Figure 761475DEST_PATH_IMAGE059
Or
Figure 556255DEST_PATH_IMAGE060
Or
Figure 250542DEST_PATH_IMAGE061
Or
Figure 105365DEST_PATH_IMAGE062
When the temperature of the water is higher than the set temperature,
Figure 603212DEST_PATH_IMAGE070
；
when in use
Figure 201683DEST_PATH_IMAGE027
In (1)
Figure 484897DEST_PATH_IMAGE028
Is composed of
Figure 858477DEST_PATH_IMAGE054
Or
Figure 594351DEST_PATH_IMAGE056
When the utility model is used, the water is discharged,
Figure 996514DEST_PATH_IMAGE071
；
Figure 134234DEST_PATH_IMAGE027
correction values in the y-direction
Figure 845707DEST_PATH_IMAGE044
The acquisition method comprises the following steps:
when in use
Figure 803299DEST_PATH_IMAGE027
In (1)
Figure 274731DEST_PATH_IMAGE028
Is composed of
Figure 516226DEST_PATH_IMAGE054
Or
Figure 149332DEST_PATH_IMAGE056
When the temperature of the water is higher than the set temperature,
Figure 859799DEST_PATH_IMAGE072
；
when in use
Figure 869344DEST_PATH_IMAGE027
In
Figure 699765DEST_PATH_IMAGE028
Is composed of
Figure 769353DEST_PATH_IMAGE059
Or
Figure 701536DEST_PATH_IMAGE060
Or
Figure 514772DEST_PATH_IMAGE061
Or
Figure 468209DEST_PATH_IMAGE062
When the temperature of the water is higher than the set temperature,
Figure 708697DEST_PATH_IMAGE073
；
when in use
Figure 862598DEST_PATH_IMAGE027
In
Figure 463212DEST_PATH_IMAGE028
Is composed of
Figure 284538DEST_PATH_IMAGE053
Or
Figure 695928DEST_PATH_IMAGE055
When the utility model is used, the water is discharged,
Figure 602704DEST_PATH_IMAGE074
。
the method for acquiring the distribution ranges of all the determined raise dust pixel points and the corrected raise dust pixel points comprises the following steps:
acquiring all determined dust pixel points and corrected dust pixel points, generating a distribution range heat matrix of the dust pixel points in a binary diagram mode, wherein the matrix value of the dust pixel points is 1, and marking the pixel points with the matrix value of 1 as pixels
Figure 7009DEST_PATH_IMAGE075
And the matrix values of other pixel points are 0.
The specific steps of calling the spraying machines corresponding to the distribution range to absorb dust in the range are as follows:
obtaining the wind speed data, the wind direction data, the power of the spraying machine and the corresponding working area of each spraying machine under different angles according to historical prior data, generating a working area heat matrix, setting the matrix value of pixel points in the working area of the spraying machine to be 1, and marking the pixel points with the matrix value of 1 as pixel points
Figure 417262DEST_PATH_IMAGE076
And the balance is 0;
adding the heat matrix of the distribution range of the dust raising pixel points and the matrix value corresponding to each position in the heat matrix of the working area of the spraying machine to obtain a control matrix;
for the pixel points corresponding to the matrix value 0 in the control matrix, the pixel points are neither dust raising pixel points nor pixel points in the working area of the sprayer, and the sprayer does not need to be controlled;
for the pixel point with the matrix value of 1 in the control matrix:
if the pixel point is marked as
Figure 999553DEST_PATH_IMAGE075
The pixel point is a dust raising pixel point but is positioned at a position where the spraying machine can not spray, and a movable ground type dust collector can be installed to process the position; if the pixel point is marked as
Figure 377314DEST_PATH_IMAGE076
The pixel point is in the working area of the sprayer and does not need to be further processed;
for a pixel point corresponding to the matrix value 2 in the control matrix, acquiring coordinates of the pixel point corresponding to the matrix value 2 when the pixel point is not only a dust raising pixel point but also in a working area of the sprayer, judging the working area of the sprayer to which the coordinates belong, and acquiring the sprayer corresponding to the working area, namely the sprayer is the sprayer needing to absorb dust;
and calling the corresponding spray of the working area, and spraying and dust collection are carried out according to the corresponding wind speed data, wind direction data, power of the sprayer and angle of the sprayer.
The beneficial effects of the invention are: based on the device intelligent control, the dust concentration of each pixel point in each frame of image is obtained according to the dust concentration sensor concentration data in each frame of image, the probability that each pixel point is a dust pixel point is obtained according to the dust concentration of each pixel point and the Euclidean distance between the pixel point and the nearest edge pixel point in the critical edge pixel points, threshold segmentation is carried out on the probability value, the pixel points in each frame of image are divided into the dust pixel points, the dust pixel points to be corrected and the non-dust pixel points, the moving distance of each dust pixel point to be corrected in the frame image is calculated according to the wind speed, the wind direction and the distance between the pixel points, the dust concentration of the pixel points is corrected, the dust pixel point distribution range is obtained, the working area of each sprayer in the municipal construction site is obtained by using historical data, the working areas of all sprayers are obtained, the sprayer working areas of the municipal construction site are intelligently controlled according to the dust pixel point distribution range matrix and the working area matrix, and the method is intelligent and resources are saved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a flow chart of an intelligent control method of dust collection equipment for municipal construction.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention relates to an intelligent control method of dust collection equipment for municipal construction, which is shown in figure 1 and comprises the following steps:
the method comprises the following steps: acquiring a current frame image completely covering a municipal construction site;
the purpose of this step is to arrange data acquisition devices, gather sensor data of municipal construction site, and the scene image data of construction site.
The application scenario of this embodiment is that often can open the sprayer always and carry out the dust absorption at municipal construction scene, and in workman work progress, the sprayer is always running basically, and the sprayer often can consume a large amount of electric power resources and water conservancy resource, consequently needs carry out intelligent control according to the job site raise dust condition to the angle and the power of sprayer in the work progress.
In the embodiment, a collecting camera needs to be arranged on the track of the spraying machine (the height is recorded as
Figure 70463DEST_PATH_IMAGE068
) And a plurality of dust concentration sensors and a wind speed and direction sensor are arranged on the ground. Wherein the collection camera adopts industrial CCD camera, raise dust concentration sensor and wind speed and direction sensor adopt professional check out test set, and specific model can be decided according to the concrete implementation condition of implementer, and the size of job site area need be considered comprehensively to camera number and raise dust concentration sensor number, and it is said especially that, to the industrial CCD camera of arranging, need mark indoor, camera parameter machine focus is for
Figure 600802DEST_PATH_IMAGE077
Camera sensor size
Figure 88415DEST_PATH_IMAGE058
Effective pixel
Figure 216121DEST_PATH_IMAGE067
。
The method comprises the steps of preprocessing arranged video monitoring data, synthesizing a complete video monitoring data image covering all construction sites through image splicing, and performing image splicing on the video monitoring data image
Figure 447382DEST_PATH_IMAGE003
The integrated video monitoring data image after frame synthesis is a top view of a construction site, the video monitoring data is 1 second and 30 frames, and the acquisition frequency of the wind speed and direction sensor
Figure 97806DEST_PATH_IMAGE078
Collecting for 1 time in 1 minute, raising dust concentrationAcquisition frequency of sensor
Figure 271168DEST_PATH_IMAGE079
The data are collected once a minute, so that the wind speed and the wind direction in the 30 frames of images in 1 second in the video monitoring data are both corresponding 1 minute wind speed and wind direction data, and corresponding 1 minute dust concentration data. Therefore, a complete video monitoring data graph after each frame is spliced is obtained
Figure 108674DEST_PATH_IMAGE080
And wind speed data corresponding thereto
Figure 878047DEST_PATH_IMAGE050
Wind direction data
Figure 897824DEST_PATH_IMAGE081
Dust concentration data
Figure 992819DEST_PATH_IMAGE082
(explanation: since the dust concentration sensor is plural, it is preferable that
Figure 583200DEST_PATH_IMAGE082
As a collection).
Step two: obtaining the dust concentration of each pixel point in the current frame image by using the dust concentration of the dust concentration sensor in the current frame image;
the purpose of this step is to calculate the dust concentration of each pixel point according to the distance between different pixel points and the dust concentration sensor data of the dust concentration sensors distributed in the construction site as a reference.
The method for acquiring the dust concentration of each pixel point in each frame of image comprises the following steps:
(1) Acquiring a dust concentration sensor closest to the pixel point in the frame image;
(2) If the gray value of the pixel point is less than or equal to the gray value of the pixel point at the dust concentration sensor, the dust concentration of the pixel point is as follows:
Figure 421843DEST_PATH_IMAGE083
in the formula (I), the compound is shown in the specification,
Figure 30548DEST_PATH_IMAGE002
is as follows
Figure 296444DEST_PATH_IMAGE003
In the frame image
Figure 374122DEST_PATH_IMAGE004
The dust concentration of each pixel point is measured,
Figure 737494DEST_PATH_IMAGE002
is as follows
Figure 217017DEST_PATH_IMAGE003
In the frame image
Figure 653815DEST_PATH_IMAGE004
The position of each pixel point is determined,
Figure 218788DEST_PATH_IMAGE006
is as follows
Figure 648502DEST_PATH_IMAGE003
First of frame image
Figure 982531DEST_PATH_IMAGE007
The dust concentration detected by the dust concentration sensor
Figure 324651DEST_PATH_IMAGE007
A dust concentration sensor is connected with
Figure 376920DEST_PATH_IMAGE004
A dust concentration sensor with the nearest pixel point,
Figure 610324DEST_PATH_IMAGE008
is as follows
Figure 267702DEST_PATH_IMAGE003
First of frame image
Figure 46302DEST_PATH_IMAGE007
The position of each dust concentration sensor is arranged,
Figure 569556DEST_PATH_IMAGE009
is a first
Figure 91804DEST_PATH_IMAGE003
First of frame image
Figure 400426DEST_PATH_IMAGE007
Position of dust concentration sensor and
Figure 330686DEST_PATH_IMAGE004
the closer the Euclidean distance between the positions of the pixel points is to the arranged raise dust concentration sensor, the more similar the raise dust concentration of the place is to the detection concentration of the arranged raise dust concentration sensor;
if the gray value of the pixel point is greater than the gray value of the pixel point at the dust concentration sensor, the dust concentration of the pixel point is as follows:
Figure 357548DEST_PATH_IMAGE084
in the formula (I), the compound is shown in the specification,
Figure 417908DEST_PATH_IMAGE011
for correcting the parameters, the calculation method comprises the following steps:
Figure 564724DEST_PATH_IMAGE085
in the formula, the first step is that,
Figure 950706DEST_PATH_IMAGE013
is as follows
Figure 199285DEST_PATH_IMAGE004
The gray value of each pixel point is calculated,
Figure 689434DEST_PATH_IMAGE014
is the gray value of the pixel point at the dust concentration sensor,
Figure 94352DEST_PATH_IMAGE015
is a hyperbolic tangent function, acts as a normalization operation,
Figure 385656DEST_PATH_IMAGE016
is a hyper-parameter because of the formula:
Figure 121531DEST_PATH_IMAGE001
the concentrations of other pixel points are estimated according to the concentrations of the sensors by the position distances between the other pixel points and the sensors, the formula utilizes an interpolation principle, namely the closer the two objects are to each other, the more similar the properties of the two objects are, in the embodiment, the closer the pixel points are to the sensors, the more similar the concentrations of the two objects are, but errors are caused only by the dust concentration calculated according to the distances.
This example corrects the parameter by introducing the concentration
Figure 523694DEST_PATH_IMAGE086
When the gray value of the pixel point is greater than the gray value of the pixel point where the dust sensor is located, the concentration of the pixel point may be greater than the concentration of the dust sensor, and therefore the dust concentration value obtained by formula calculation needs to be corrected. Because the color of the dust is grey white, the point is represented as a gray value in an image, wherein the larger the gray value is, the higher the probability of the dust concentration is, and the correction coefficient obtained by calculation is
Figure 910681DEST_PATH_IMAGE086
The larger.
Figure 372887DEST_PATH_IMAGE015
Is a function of the hyperbolic tangent,
Figure 596058DEST_PATH_IMAGE016
representing hyper-parameters for adjusting the value of the whole (due to
Figure 67490DEST_PATH_IMAGE015
The value calculated by the function is around 0-1 and therefore needs to be adjusted),
Figure 63913DEST_PATH_IMAGE016
the value of (b) can be set according to the specific implementation,
Figure 274184DEST_PATH_IMAGE087
in the present example, empirical reference values are given,
Figure 971269DEST_PATH_IMAGE088
。
specifically, the following steps are carried out: when the dust concentration of a dust concentration place to be calculated is calculated, the dust concentration sensor closest to the pixel point is selected for calculation, and if the distance between the pixel point and the dust concentration sensors is the same, the dust concentration of the pixel point is multiple
Figure 715234DEST_PATH_IMAGE002
Is measured.
Step three: carrying out edge detection on pixel points in the current frame image to obtain critical edge pixel points in the current frame image; obtaining the probability that each pixel point is a raise dust pixel point according to the raise dust concentration of each pixel point in the current frame image and the Euclidean distance between the pixel point and the nearest edge pixel point in the critical edge pixel points; performing threshold segmentation on the probability value of each pixel point in the current frame image as a raise dust pixel point, and dividing the pixel points in the current frame image into determined raise dust pixel points, raise dust pixel points to be corrected and non-raise dust pixel points;
the method comprises the steps of analyzing the gray value of pixel points in a frame image, obtaining the pixel points with violent gray value changes, calculating the probability that each pixel point is a dust pixel point, and classifying the pixel points according to the probability.
The method for acquiring the critical edge pixel points in each frame of image comprises the following steps:
the gray values of the pixels of the image in the region where the dust is located are obviously different from those of the pixels in the non-dust-raising region, and the gray values of the pixels with different dust concentrations in different dust-raising regions are different, but the differences are not large, namely the pixels belong to similar gray values. Therefore, each frame of image is subjected to critical point analysis, points with violent gray value change in the video monitoring data image are detected, and critical point edges are generated, so that each frame of video monitoring data image is generated
Figure 827546DEST_PATH_IMAGE080
The critical point edge map of (1), wherein the critical point analysis method can be performed by Canny edge detection and the like.
The method for calculating the probability that each pixel point is a raise dust pixel point comprises the following steps:
Figure 615243DEST_PATH_IMAGE089
in the formula (I), the compound is shown in the specification,
Figure 62273DEST_PATH_IMAGE018
is a first
Figure 609929DEST_PATH_IMAGE003
First of frame image
Figure 576748DEST_PATH_IMAGE019
The probability that each pixel is a dusting pixel,
Figure 63575DEST_PATH_IMAGE020
is as follows
Figure 483055DEST_PATH_IMAGE003
First of frame image
Figure 303243DEST_PATH_IMAGE019
The dust concentration of each pixel point is measured,
Figure 373836DEST_PATH_IMAGE021
is as follows
Figure 519647DEST_PATH_IMAGE003
First of frame image
Figure 692002DEST_PATH_IMAGE019
The Euclidean distance between each pixel point and the critical edge pixel point is the nearest,
Figure 581461DEST_PATH_IMAGE015
is a function of the hyperbolic tangent,
Figure 772139DEST_PATH_IMAGE022
and
Figure 88851DEST_PATH_IMAGE023
the dust concentration and the distance weight, respectively, are considered to be more important in this embodiment than the distance.
It should be noted that the range region where the dust is present is a region that satisfies the threshold value of the dust concentration, and a region that satisfies a sharp change in the gradation value, that is, a point having a larger dust concentration is closer to the edge of the sharp change in the gradation value, and the probability that the point is the dust is higher.
The method for dividing the raise dust pixel points into the determined raise dust pixel points and the raise dust pixel points to be corrected comprises the following steps:
setting a probability threshold
Figure 482924DEST_PATH_IMAGE024
And
Figure 159761DEST_PATH_IMAGE025
，
Figure 690100DEST_PATH_IMAGE026
；
if the probability value of the pixel point is greater than the probability threshold value
Figure 616861DEST_PATH_IMAGE024
The raise dust pixel point is a determined raise dust pixel point;
if the probability value of the pixel point is less than the probability threshold value
Figure 498229DEST_PATH_IMAGE024
And is greater than the probability threshold
Figure 729491DEST_PATH_IMAGE025
The raise dust pixel point is a raise dust pixel point to be corrected;
if the probability value of the pixel point is less than the probability threshold value
Figure 894762DEST_PATH_IMAGE025
The pixel points of (1) are non-dust-raising pixel points.
In this example
Figure 553276DEST_PATH_IMAGE090
，
Figure 921940DEST_PATH_IMAGE091
。
Step four: obtaining the actual moving distance of each raise dust pixel point to be corrected according to the wind speed and the wind direction, determining the moving distance of the raise dust pixel point to be corrected in the next frame of image, and correcting the raise dust concentration of each raise dust pixel point to be corrected by using the moving distance;
the step aims to take the influence of wind speed and wind direction on the pixel points into consideration, the distance between the pixel points in the current frame image and the dust concentration sensor changes after the pixel points move due to the fact that the wind speed and the wind direction move in the next frame image, therefore, the moving distance of the actual moving distance of each dust pixel point to be corrected in the frame image needs to be calculated according to the wind speed and the wind direction of each frame image and the distance between the pixel points, and the dust concentration of the pixel point is corrected according to the moving distance of each dust pixel point to be corrected in the frame image.
The method for correcting the dust concentration of the dust pixel point to be corrected in the next frame image of the current frame image comprises the following steps:
(1) Calculating the corresponding moving distance of the actual moving distance of each pixel point of the dust to be corrected from the current frame image to the next frame image according to the wind speed and the wind direction and the distance between the pixel points
Figure 956892DEST_PATH_IMAGE027
，
Figure 973740DEST_PATH_IMAGE028
The specific method is as follows:
a. calculating the actual moving distance C of the raise dust pixel point to be corrected:
Figure 537577DEST_PATH_IMAGE049
in the formula (I), the compound is shown in the specification,
Figure 393537DEST_PATH_IMAGE050
which is the wind speed,
Figure 232180DEST_PATH_IMAGE051
the acquisition time for each frame of image;
b. the angle that is closest to the wind direction among eight angle directions of acquireing the raise dust pixel of waiting to revise, regard it as the moving direction of the raise dust pixel of waiting to revise in the image, eight angle directions are respectively:
Figure 840885DEST_PATH_IMAGE052
；
c. if the moving direction of the raise dust pixel point in the image to be corrected
Figure 483612DEST_PATH_IMAGE028
Is composed of
Figure 561290DEST_PATH_IMAGE053
，
Figure 187312DEST_PATH_IMAGE054
，
Figure 666835DEST_PATH_IMAGE055
，
Figure 572474DEST_PATH_IMAGE056
One of them, the moving distance of the raise dust pixel point to be corrected in the frame image is:
Figure 386715DEST_PATH_IMAGE057
in the formula (I), the compound is shown in the specification,
Figure 567161DEST_PATH_IMAGE027
for the moving distance of the raise dust pixel point in the frame image to be corrected,
Figure 901190DEST_PATH_IMAGE058
the distance between each pixel point in the frame image is taken as the distance;
if the moving direction of the raise dust pixel point to be corrected in the image is
Figure 243310DEST_PATH_IMAGE059
，
Figure 544847DEST_PATH_IMAGE060
，
Figure 997825DEST_PATH_IMAGE061
，
Figure 451940DEST_PATH_IMAGE062
One of them, the moving distance of the raise dust pixel point to be corrected in the frame image is:
Figure 476878DEST_PATH_IMAGE063
wherein the content of the first and second substances,
Figure 16444DEST_PATH_IMAGE058
the calculating method comprises the following steps:
Figure 538692DEST_PATH_IMAGE092
in the formula (I), the compound is shown in the specification,
Figure 722680DEST_PATH_IMAGE065
is the focal length of the camera and is,
Figure 410798DEST_PATH_IMAGE066
is the size of the camera sensor and is,
Figure 906502DEST_PATH_IMAGE067
is a valid pixel of the camera and is,
Figure 232441DEST_PATH_IMAGE068
is the placement height of the camera.
(2) According to the moving distance of each raise dust pixel point to be corrected from the current frame image to the next frame image
Figure 644837DEST_PATH_IMAGE027
Correcting the flying dust concentration of each flying dust pixel point to be corrected, wherein the method comprises the following steps:
a. obtaining raise dust pixel points to be corrected in frame image
Figure 499660DEST_PATH_IMAGE029
Position of
Figure 13818DEST_PATH_IMAGE030
Position of dust concentration sensor
Figure 127136DEST_PATH_IMAGE031
，
Figure 144771DEST_PATH_IMAGE029
Is the ith frame image
Figure 436075DEST_PATH_IMAGE032
The raise dust pixel points to be corrected,
Figure 155638DEST_PATH_IMAGE008
is as follows
Figure 823380DEST_PATH_IMAGE003
First of frame image
Figure 695521DEST_PATH_IMAGE007
A dust concentration sensor;
b. according to the raised dust pixel point to be corrected
Figure 423306DEST_PATH_IMAGE029
Moving distance and direction pair from current frame image to next frame
Figure 633095DEST_PATH_IMAGE029
Correcting the position of (a):
if it is
Figure 838948DEST_PATH_IMAGE033
，
Figure 831175DEST_PATH_IMAGE034
；
If it is
Figure 729861DEST_PATH_IMAGE035
，
Figure 424016DEST_PATH_IMAGE036
；
If it is
Figure 167981DEST_PATH_IMAGE037
，
Figure 14714DEST_PATH_IMAGE038
；
If it is
Figure 67990DEST_PATH_IMAGE039
，
Figure 265753DEST_PATH_IMAGE040
；
Figure 813409DEST_PATH_IMAGE041
For correcting dust pixel points
Figure 780228DEST_PATH_IMAGE029
At the corrected position in the frame image,
Figure 269984DEST_PATH_IMAGE042
is composed of
Figure 955043DEST_PATH_IMAGE027
In that
Figure 306390DEST_PATH_IMAGE043
A correction value in the direction of the direction,
Figure 127716DEST_PATH_IMAGE044
is composed of
Figure 519864DEST_PATH_IMAGE027
In that
Figure 426640DEST_PATH_IMAGE045
A correction value in a direction;
Figure 50520DEST_PATH_IMAGE027
in that
Figure 241198DEST_PATH_IMAGE043
Correction value in direction
Figure 557910DEST_PATH_IMAGE042
The acquisition method comprises the following steps:
when in use
Figure 686403DEST_PATH_IMAGE027
In (1)
Figure 645132DEST_PATH_IMAGE028
Is composed of
Figure 690317DEST_PATH_IMAGE053
Or
Figure 443510DEST_PATH_IMAGE055
When the temperature of the water is higher than the set temperature,
Figure 59299DEST_PATH_IMAGE069
(ii) a When in use
Figure 290560DEST_PATH_IMAGE027
In (1)
Figure 190252DEST_PATH_IMAGE028
Is composed of
Figure 114345DEST_PATH_IMAGE059
Or
Figure 483010DEST_PATH_IMAGE060
Or
Figure 517962DEST_PATH_IMAGE061
Or
Figure 275090DEST_PATH_IMAGE062
When the temperature of the water is higher than the set temperature,
Figure 370085DEST_PATH_IMAGE070
(ii) a When in use
Figure 226045DEST_PATH_IMAGE027
In
Figure 799109DEST_PATH_IMAGE028
Is composed of
Figure 673393DEST_PATH_IMAGE054
Or
Figure 673710DEST_PATH_IMAGE056
When the temperature of the water is higher than the set temperature,
Figure 751388DEST_PATH_IMAGE071
；
Figure 642989DEST_PATH_IMAGE027
in that
Figure 122512DEST_PATH_IMAGE045
Correction value in direction
Figure 559310DEST_PATH_IMAGE044
The acquisition method comprises the following steps:
when in use
Figure 124283DEST_PATH_IMAGE027
In
Figure 22838DEST_PATH_IMAGE028
Is composed of
Figure 622446DEST_PATH_IMAGE054
Or
Figure 964566DEST_PATH_IMAGE056
When the temperature of the water is higher than the set temperature,
Figure 263174DEST_PATH_IMAGE072
(ii) a When the temperature is higher than the set temperature
Figure 981731DEST_PATH_IMAGE027
In
Figure 701425DEST_PATH_IMAGE028
Is composed of
Figure 214446DEST_PATH_IMAGE059
Or
Figure 3280DEST_PATH_IMAGE060
Or
Figure 525528DEST_PATH_IMAGE061
Or
Figure 834149DEST_PATH_IMAGE062
When the temperature of the water is higher than the set temperature,
Figure 518072DEST_PATH_IMAGE073
(ii) a When in use
Figure 528622DEST_PATH_IMAGE027
In (1)
Figure 854561DEST_PATH_IMAGE028
Is composed of
Figure 752110DEST_PATH_IMAGE053
Or
Figure 121780DEST_PATH_IMAGE055
When the temperature of the water is higher than the set temperature,
Figure 635938DEST_PATH_IMAGE074
。
c. to-be-corrected raise dust pixel point
Figure 499989DEST_PATH_IMAGE029
The dust concentration of (2) is corrected, and the formula is as follows:
Figure 517623DEST_PATH_IMAGE093
in the formula (I), the compound is shown in the specification,
Figure 326704DEST_PATH_IMAGE047
in the ith frame image
Figure 62579DEST_PATH_IMAGE032
The corrected raise dust concentration of each raise dust pixel point to be corrected,
Figure 199162DEST_PATH_IMAGE006
is a first
Figure 336882DEST_PATH_IMAGE003
First of frame image
Figure 313934DEST_PATH_IMAGE007
The dust concentration detected by the dust concentration sensor,
Figure 271526DEST_PATH_IMAGE008
is as follows
Figure 742959DEST_PATH_IMAGE003
First of frame image
Figure 735186DEST_PATH_IMAGE007
Position of dust concentration sensor
Figure 617560DEST_PATH_IMAGE031
，
Figure 328027DEST_PATH_IMAGE048
For dust concentration sensor
Figure 71992DEST_PATH_IMAGE008
Position of
Figure 167993DEST_PATH_IMAGE031
And
Figure 237580DEST_PATH_IMAGE041
the euclidean distance between them.
It should be noted that, since the data of the dust concentration sensor is one minute, the generated dust concentration distribution field is unique within one minute, and the possibility that the point at which the dust concentration is high changes (the concentration becomes lower) within one minute is very small, but in this embodiment, the wind speed and wind direction sensor data are introduced to perform dust range analysis by comprehensively considering the influence of the wind speed and the wind direction.
Step five: determining the raise dust pixel points and the raise dust pixel points to be corrected which are larger than a concentration threshold value by utilizing the raise dust concentration of the raise dust pixel points and the corrected raise dust concentration of the raise dust pixel points to be corrected, and acquiring the distribution range of the pixel points of which the raise dust concentration is larger than the concentration threshold value; and acquiring a sprayer working area to which the distribution range of the pixel points with the raised dust concentration larger than the concentration threshold belongs, and calling a sprayer corresponding to the working area to collect dust in the distribution range.
The purpose of this step is when concentration reaches certain degree, need obtain the scope that the raise dust pixel constitutes this moment, obtain the work area of sprayer simultaneously, judge which sprayer's work area that the scope of raise dust pixel belongs to, call the sprayer that corresponds and remove dust.
The method for determining the raise dust pixel points larger than the concentration threshold value and the raise dust pixel points to be corrected by utilizing the raise dust concentration of the raise dust pixel points and the corrected raise dust concentration of the raise dust pixel points to be corrected is as follows:
and respectively comparing the flying dust concentration of the flying dust pixel points and the corrected flying dust concentration of the flying dust pixel points to be corrected with a flying dust concentration threshold value to obtain the flying dust pixel points with the concentration greater than the concentration threshold value and the flying dust pixel points to be corrected.
The method for acquiring the distribution range of the pixel points with the dust concentration greater than the concentration threshold comprises the following steps:
acquiring all dust pixels and corrected dust pixels, generating a distribution range heat matrix of the dust pixels in a binary diagram form, wherein the matrix value of the dust pixels is 1, and marking the pixels with the matrix value of 1 as pixels
Figure 169764DEST_PATH_IMAGE075
And if the matrix value of other pixel points is 0, the distribution range is an area with a matrix value of 1, and the matrix is as follows:
Figure 982999DEST_PATH_IMAGE094
in the formula (I), the compound is shown in the specification,
Figure 196156DEST_PATH_IMAGE075
the mark is the mark of the dust pixel with the matrix value of 1.
The specific steps of calling the spraying machines corresponding to the distribution range to absorb dust in the range are as follows:
(1) Obtaining historical prior data, including: the method comprises the following steps: wind speed data, wind direction data, power of the spraying machine, angle of the spraying machine and different working areas corresponding to the spraying machine;
(2) Inputting the data into a simulator for training and simulation, and outputting different wind speed data, wind direction data and power of the sprayers, wherein the working area of each sprayer in a corresponding construction site is at a sprayer angle;
(3) Obtaining a working area generated working area heat matrix of each sprayer in a construction site image, setting the matrix value of pixel points in the working area of the sprayer to be 1, and marking the pixel points with the matrix value of 1 as
Figure 171065DEST_PATH_IMAGE076
And the rest is 0, the working area is an area with a matrix value of 1.
The working ranges of all the sprayers under different wind speeds, wind directions, spraying angles and powers are obtained based on historical data, and a working range heat matrix of the sprayers is generated.
In the embodiment, the working ranges of the sprayers at different angles are determined, the corresponding working range heat matrixes are generated, and are compared with the distribution range heat matrixes of the dust, so that which sprayers participate in working, and the directions of the sprayers are adjusted.
Because the working range heat matrix of the sprayer is affected by the power, direction and position of the sprayer. If the wind direction is opposite to the direction of the sprayer, the power of the sprayer which needs to be arranged is larger; if the wind direction is the same as the direction of the sprayer, the power of the sprayer which needs to be arranged is small. The wind speed and the wind direction need to be analyzed together, namely the wind direction is opposite, the wind speed is high, the power of the arranged spraying machine is high, the wind speed is low, and the power of the arranged spraying machine is low; if the wind direction is the same, the larger the wind speed is, the smaller the set atomizer power is, and the smaller the wind speed is, the larger the set atomizer power is.
(4) Adding the heat matrix of the distribution range of the dust raising pixel points and the matrix value corresponding to each position in the heat matrix of the working area of the spraying machine to obtain a control matrix;
(5) And performing intelligent control according to the control matrix:
for the pixel points corresponding to the matrix value 0 in the control matrix, the pixel points are neither dust raising pixel points nor pixel points in the working area of the sprayer, and the sprayer does not need to be controlled;
for the pixel point with the matrix value of 1 in the control matrix:
if the pixel point is marked as
Figure 856124DEST_PATH_IMAGE075
The pixel point is a dust raising pixel point but is positioned at a position where the spraying machine can not spray, and a movable ground type dust collector can be installed to process the position; if the pixel point is marked as
Figure 207471DEST_PATH_IMAGE076
The pixel point is in the working area of the sprayer and does not need to be further processed;
for a pixel point corresponding to the matrix value 2 in the control matrix, if the pixel point is not only a dust raising pixel point but also in a working area of the sprayer, acquiring a coordinate of the pixel point corresponding to the matrix value 2, judging a sprayer working area to which the coordinate belongs, and acquiring a sprayer corresponding to the working area, namely the sprayer is a sprayer needing to absorb dust;
and calling the corresponding spray of the working area, and spraying and dust collection are carried out according to the corresponding wind speed data, wind direction data, power of the spraying machine and angle of the spraying machine.
The control matrix is obtained by performing coincidence degree calculation on two matrix values, that is, adding the matrix values corresponding to each position in the heat matrix to obtain a new matrix (recorded as a control matrix), wherein the matrix values of the control matrix are 3 types: 0,1 (
Figure 278064DEST_PATH_IMAGE075
Or
Figure 158296DEST_PATH_IMAGE076
），2。
For a point with a matrix value of 0 in the control matrix, the distribution range of the raised dust is not represented, and the distribution range of the raised dust is not represented, so that the sprayer does not need to be controlled;
for a matrix value of 1 (in the control matrix)
Figure 65072DEST_PATH_IMAGE075
Or
Figure 220110DEST_PATH_IMAGE076
) The point of (c), represents two possibilities, case one: the dust distribution range is only, but not the working range of the sprayer; case two: the range is only the working range of the sprayer, not the range of the flying dust. For this case, labeling according to matrix values: (
Figure 145209DEST_PATH_IMAGE075
Or
Figure 461921DEST_PATH_IMAGE076
) The judgment is made for both cases. If it is marked as
Figure 855993DEST_PATH_IMAGE075
Whether the position corresponding to the matrix value needs to be processed separately or not (that is, the position which cannot be sprayed by the spraying machine needs to be processed separately, for example, a movable ground type dust collector is installed to process the position) needs to be considered; if it is marked as
Figure 532831DEST_PATH_IMAGE076
And the working range of the sprayer is the working range, no further control processing is needed.
For the point with the matrix value of 2 in the control matrix, the distribution range of the flying dust and the working range of the spraying machine are represented, which is the main intelligent regulation and control condition in the embodiment. Acquiring a coordinate set of pixel points with a matrix value of 2, and combining the coordinate set with the wind speed
Figure 328749DEST_PATH_IMAGE050
And
Figure 81941DEST_PATH_IMAGE095
analyzing the attribution of the working range of each sprayer according to the working range result simulated in the step;
the working area of which sprayer of attribution of all pixel points with matrix values of 2 is analyzed, a sprayer needing spraying and dust collection is obtained, corresponding to the working area of the sprayer is obtained, corresponding sprayer power and corresponding sprayer angle are obtained at the same time, and the sprayer is controlled to spray and remove dust, so that intelligent regulation and control of the sprayer are achieved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the present invention, which is intended to cover any modifications, equivalents, improvements, etc. within the spirit and scope of the present invention.

Claims (9)

1. An intelligent control method of dust collection equipment for municipal construction is characterized by comprising the following steps:
acquiring a current frame image completely covering a municipal construction site;
obtaining the dust concentration of each pixel point in the current frame image by using the dust concentration of the dust concentration sensor in the current frame image;
performing edge detection on pixel points in the current frame image to obtain critical edge pixel points in the current frame image;
obtaining the probability that each pixel point is a raise dust pixel point according to the raise dust concentration of each pixel point in the current frame image and the Euclidean distance between the pixel point and the nearest edge pixel point in the critical edge pixel points;
carrying out threshold segmentation on the probability value of each pixel point in the current frame image as a raise dust pixel point, and dividing the pixel points in the current frame image into a determined raise dust pixel point, a raise dust pixel point to be corrected and a non-raise dust pixel point;
obtaining the actual moving distance of each raise dust pixel point to be corrected according to the wind speed and the wind direction, determining the moving distance of the raise dust pixel point to be corrected in the next frame of image, and correcting the raise dust concentration of each raise dust pixel point to be corrected by using the moving distance;
determining the raise dust pixel points and the raise dust pixel points to be corrected which are greater than a concentration threshold value by utilizing the raise dust concentrations of the raise dust pixel points and the corrected raise dust concentrations of the raise dust pixel points to be corrected, and acquiring the distribution range of the pixel points of which the raise dust concentrations are greater than the concentration threshold value;
and acquiring a sprayer working area to which the distribution range of the pixel points with the raised dust concentration larger than the concentration threshold belongs, and calling a sprayer corresponding to the working area to collect dust in the distribution range.
2. The intelligent control method for the dust collection equipment for the municipal construction according to claim 1, wherein the method for obtaining the dust concentration of each pixel point in the current frame image is as follows:
acquiring a dust concentration sensor which is closest to the pixel point in the current frame image;
if the gray value of the pixel point is less than or equal to the gray value of the pixel point at the dust concentration sensor, the dust concentration of the pixel point is as follows:
Figure 268036DEST_PATH_IMAGE002
in the formula (I), the compound is shown in the specification,
Figure DEST_PATH_IMAGE003
is as follows
Figure 429896DEST_PATH_IMAGE004
In the frame image
Figure DEST_PATH_IMAGE005
The dust concentration of each pixel point is measured,
Figure 708431DEST_PATH_IMAGE006
is as follows
Figure 777887DEST_PATH_IMAGE004
In the frame image
Figure 728042DEST_PATH_IMAGE005
The position of each pixel point is determined by the position,
Figure DEST_PATH_IMAGE007
is as follows
Figure 608274DEST_PATH_IMAGE004
First of frame image
Figure 842946DEST_PATH_IMAGE008
The dust concentration detected by the dust concentration sensor
Figure 184934DEST_PATH_IMAGE008
A dust concentration sensor is connected with
Figure 923083DEST_PATH_IMAGE005
A dust concentration sensor with the nearest pixel point,
Figure DEST_PATH_IMAGE009
is a first
Figure 101779DEST_PATH_IMAGE004
First of frame image
Figure 558168DEST_PATH_IMAGE008
The position of each dust concentration sensor is arranged,
Figure 189001DEST_PATH_IMAGE010
is as follows
Figure 47236DEST_PATH_IMAGE004
First of frame image
Figure 987379DEST_PATH_IMAGE008
The position of the dust concentration sensor and
Figure 931064DEST_PATH_IMAGE005
euclidean distance between pixel point positions;
if the gray value of the pixel point is greater than the gray value of the pixel point at the dust concentration sensor, the dust concentration of the pixel point is as follows:
Figure 365587DEST_PATH_IMAGE012
in the formula (I), the compound is shown in the specification,
Figure DEST_PATH_IMAGE013
for correcting the parameters, the calculation method comprises the following steps:
Figure DEST_PATH_IMAGE015
in the formula, the first step is that,
Figure 265279DEST_PATH_IMAGE016
is a first
Figure 392635DEST_PATH_IMAGE005
The gray value of each pixel point is calculated,
Figure DEST_PATH_IMAGE017
is the gray value of the pixel point at the dust concentration sensor,
Figure 744988DEST_PATH_IMAGE018
in the form of a function of the hyperbolic tangent,
Figure DEST_PATH_IMAGE019
is a hyper-parameter.
3. The intelligent control method for the dust collection equipment for municipal construction according to claim 2, wherein the calculation method of the probability that each pixel is a raise dust pixel comprises the following steps:
Figure DEST_PATH_IMAGE021
in the formula (I), the compound is shown in the specification,
Figure 167223DEST_PATH_IMAGE022
is as follows
Figure 468892DEST_PATH_IMAGE004
First of frame image
Figure DEST_PATH_IMAGE023
The probability that each pixel is a dust pixel,
Figure 32728DEST_PATH_IMAGE024
is as follows
Figure 341219DEST_PATH_IMAGE004
First of frame image
Figure 851966DEST_PATH_IMAGE023
The dust concentration of each pixel point is measured,
Figure DEST_PATH_IMAGE025
is as follows
Figure 195091DEST_PATH_IMAGE004
First of frame image
Figure 523304DEST_PATH_IMAGE023
The Euclidean distance between each pixel point and the nearest critical edge pixel point,
Figure 538665DEST_PATH_IMAGE018
as a hyperbolic tangent function，
Figure 508895DEST_PATH_IMAGE026
And
Figure DEST_PATH_IMAGE027
respectively dust concentration and distance weight.
4. The intelligent control method for the dust collection equipment for the municipal construction according to claim 3, wherein the specific method for dividing the pixels in the current frame image into the determined raise dust pixels, the raise dust pixels to be corrected and the non-raise dust pixels comprises the following steps:
setting a probability threshold
Figure 706527DEST_PATH_IMAGE028
And
Figure DEST_PATH_IMAGE029
，
Figure 612166DEST_PATH_IMAGE030
；
if the probability value of the pixel point is larger than the probability threshold value
Figure 632599DEST_PATH_IMAGE028
The raise dust pixel point is a determined raise dust pixel point;
if the probability value of the pixel point is less than the probability threshold value
Figure 485149DEST_PATH_IMAGE028
And is greater than the probability threshold
Figure DEST_PATH_IMAGE031
The raise dust pixel point is a raise dust pixel point to be corrected;
if the probability value of the pixel point is less than the probability threshold value
Figure 802866DEST_PATH_IMAGE029
The pixel points of (1) are non-dust-raising pixel points.
5. The intelligent control method for the dust collection equipment for the municipal construction according to claim 4, wherein the method for correcting the flying dust concentration of each flying dust pixel to be corrected is as follows:
calculating the corresponding moving distance of the actual moving distance of each raise dust pixel point to be corrected from the current frame image to the next frame image according to the wind speed and the wind direction and the distance between each pixel point
Figure 738461DEST_PATH_IMAGE032
，
Figure DEST_PATH_IMAGE033
Is the moving direction;
according to the moving distance of each raise dust pixel point to be corrected from the current frame image to the next frame image
Figure 649786DEST_PATH_IMAGE032
Correcting the flying dust concentration of each flying dust pixel point to be corrected, wherein the method comprises the following steps:
obtaining raise dust pixel points to be corrected
Figure 696239DEST_PATH_IMAGE034
Position of
Figure DEST_PATH_IMAGE035
Position of dust concentration sensor
Figure 619196DEST_PATH_IMAGE036
，
Figure 378554DEST_PATH_IMAGE034
For the ith frame image
Figure DEST_PATH_IMAGE037
Stand forCorrecting the raised dust pixel points,
Figure 901809DEST_PATH_IMAGE009
is a first
Figure 627319DEST_PATH_IMAGE004
First of frame image
Figure 998258DEST_PATH_IMAGE008
A dust concentration sensor;
according to the raise dust pixel point to be corrected
Figure 400289DEST_PATH_IMAGE034
Distance and direction of movement in the current frame image to the next frame
Figure 223888DEST_PATH_IMAGE034
Correcting the position of (a):
if it is
Figure 487511DEST_PATH_IMAGE038
，
Figure DEST_PATH_IMAGE039
；
If it is
Figure 634327DEST_PATH_IMAGE040
，
Figure DEST_PATH_IMAGE041
；
If it is
Figure 223571DEST_PATH_IMAGE042
，
Figure DEST_PATH_IMAGE043
；
If it is
Figure 458768DEST_PATH_IMAGE044
，
Figure DEST_PATH_IMAGE045
；
Figure 57240DEST_PATH_IMAGE046
For correcting dust pixel points
Figure 261825DEST_PATH_IMAGE034
The corrected position in the frame image is,
Figure DEST_PATH_IMAGE047
is composed of
Figure 287550DEST_PATH_IMAGE032
In that
Figure 475955DEST_PATH_IMAGE048
A correction value in the direction of the direction,
Figure DEST_PATH_IMAGE049
is composed of
Figure 346959DEST_PATH_IMAGE032
In that
Figure 812575DEST_PATH_IMAGE050
A correction value in a direction;
to-be-corrected raise dust pixel point
Figure 992890DEST_PATH_IMAGE034
The dust concentration of (2) is corrected, and the formula is as follows:
Figure 888164DEST_PATH_IMAGE052
in the formula (I), the compound is shown in the specification,
Figure DEST_PATH_IMAGE053
in the ith frame image
Figure 340356DEST_PATH_IMAGE037
The corrected raise dust concentration of each raise dust pixel point to be corrected,
Figure 238909DEST_PATH_IMAGE007
is as follows
Figure 934332DEST_PATH_IMAGE004
First of frame image
Figure 582482DEST_PATH_IMAGE008
The dust concentration detected by the dust concentration sensor,
Figure 247819DEST_PATH_IMAGE009
is a first
Figure 422448DEST_PATH_IMAGE004
First of frame image
Figure 678986DEST_PATH_IMAGE008
Position of dust concentration sensor
Figure 673487DEST_PATH_IMAGE036
，
Figure 424405DEST_PATH_IMAGE054
For dust concentration sensor
Figure 453541DEST_PATH_IMAGE009
Position of
Figure 878051DEST_PATH_IMAGE036
And
Figure 405853DEST_PATH_IMAGE046
the euclidean distance between them.
6. The intelligent control method for the dust collection equipment for municipal construction according to claim 5, wherein the actual moving distance of each raise dust pixel point to be corrected is the corresponding moving distance from the current frame image to the next frame image
Figure 947080DEST_PATH_IMAGE032
The acquisition method comprises the following steps:
calculating the actual moving distance C of the raise dust pixel point to be corrected:
Figure 96302DEST_PATH_IMAGE056
in the formula (I), the compound is shown in the specification,
Figure DEST_PATH_IMAGE057
which is the wind speed,
Figure 101167DEST_PATH_IMAGE058
the acquisition time for each frame of image;
the angle that is closest to the wind direction in eight angular directions of obtaining the raise dust pixel of waiting to revise, regard it as the moving direction of the raise dust pixel of waiting to revise in the image, eight angular directions are respectively:
Figure DEST_PATH_IMAGE059
；
if the moving direction of the raise dust pixel point in the image is to be corrected
Figure 476785DEST_PATH_IMAGE033
Is composed of
Figure 959718DEST_PATH_IMAGE060
，
Figure DEST_PATH_IMAGE061
，
Figure 760184DEST_PATH_IMAGE062
，
Figure DEST_PATH_IMAGE063
One of them, the moving distance of the raise dust pixel point to be corrected in the frame image is:
Figure DEST_PATH_IMAGE065
in the formula (I), the compound is shown in the specification,
Figure 732688DEST_PATH_IMAGE032
for the moving distance of the raise dust pixel point in the frame image to be corrected,
Figure 454657DEST_PATH_IMAGE066
the distance between each pixel point in the frame image is taken as the distance;
if the moving direction of the raise dust pixel point to be corrected in the image is
Figure DEST_PATH_IMAGE067
，
Figure 27369DEST_PATH_IMAGE068
，
Figure DEST_PATH_IMAGE069
，
Figure 541395DEST_PATH_IMAGE070
One of them, the moving distance of the raise dust pixel point to be corrected in the frame image is:
Figure 356905DEST_PATH_IMAGE072
wherein the content of the first and second substances,
Figure 910377DEST_PATH_IMAGE066
the calculation method comprises the following steps:
Figure 735113DEST_PATH_IMAGE074
in the formula (I), the compound is shown in the specification,
Figure DEST_PATH_IMAGE075
is the focal length of the camera and is,
Figure 103647DEST_PATH_IMAGE076
is the size of the camera sensor and is,
Figure DEST_PATH_IMAGE077
is a valid pixel of the camera and is,
Figure 886795DEST_PATH_IMAGE078
is the arrangement height of the camera.
7. The intelligent control method for the dust collection equipment for municipal construction according to claim 5, wherein the method is characterized in that
Figure 317776DEST_PATH_IMAGE032
In that
Figure 290411DEST_PATH_IMAGE048
Correction value in direction and
Figure 857659DEST_PATH_IMAGE032
in that
Figure 142534DEST_PATH_IMAGE050
The method for acquiring the correction value in the direction comprises the following steps:
Figure 795233DEST_PATH_IMAGE032
in that
Figure 571559DEST_PATH_IMAGE048
Correction value in direction
Figure 258892DEST_PATH_IMAGE047
The acquisition method comprises the following steps:
when the temperature is higher than the set temperature
Figure 977318DEST_PATH_IMAGE032
In (1)
Figure 117312DEST_PATH_IMAGE033
Is composed of
Figure 431750DEST_PATH_IMAGE060
Or
Figure 973590DEST_PATH_IMAGE062
When the temperature of the water is higher than the set temperature,
Figure DEST_PATH_IMAGE079
；
when in use
Figure 269442DEST_PATH_IMAGE032
In (1)
Figure 896733DEST_PATH_IMAGE033
Is composed of
Figure 264129DEST_PATH_IMAGE067
Or
Figure 191634DEST_PATH_IMAGE068
Or
Figure 737016DEST_PATH_IMAGE069
Or
Figure 586023DEST_PATH_IMAGE070
When the utility model is used, the water is discharged,
Figure 754180DEST_PATH_IMAGE080
；
when in use
Figure 411558DEST_PATH_IMAGE032
In (1)
Figure 252475DEST_PATH_IMAGE033
Is composed of
Figure DEST_PATH_IMAGE081
Or
Figure 510150DEST_PATH_IMAGE063
When the utility model is used, the water is discharged,
Figure 970081DEST_PATH_IMAGE082
；
Figure 731233DEST_PATH_IMAGE032
correction values in the y-direction
Figure 743051DEST_PATH_IMAGE049
The acquisition method comprises the following steps:
when in use
Figure 707596DEST_PATH_IMAGE032
In (1)
Figure 95852DEST_PATH_IMAGE033
Is composed of
Figure 711510DEST_PATH_IMAGE081
Or
Figure 894230DEST_PATH_IMAGE063
When the temperature of the water is higher than the set temperature,
Figure DEST_PATH_IMAGE083
；
when in use
Figure 611650DEST_PATH_IMAGE032
In (1)
Figure 665581DEST_PATH_IMAGE033
Is composed of
Figure 11112DEST_PATH_IMAGE067
Or
Figure 505678DEST_PATH_IMAGE068
Or
Figure 38291DEST_PATH_IMAGE069
Or
Figure 158562DEST_PATH_IMAGE070
When the temperature of the water is higher than the set temperature,
Figure 233966DEST_PATH_IMAGE084
；
when in use
Figure 758488DEST_PATH_IMAGE032
In
Figure 168609DEST_PATH_IMAGE033
Is composed of
Figure 967938DEST_PATH_IMAGE060
Or
Figure 897848DEST_PATH_IMAGE062
When the temperature of the water is higher than the set temperature,
Figure DEST_PATH_IMAGE085
。
8. the intelligent control method for the dust collection equipment for the municipal construction according to claim 7, wherein the method for obtaining the distribution range of the pixel points with the dust concentration greater than the concentration threshold comprises the following steps:
acquiring all determined dust pixel points and corrected dust pixel points, generating a distribution range heat matrix of the dust pixel points in a binary diagram mode, wherein the matrix value of the dust pixel points is 1, and marking the pixel points with the matrix value of 1 as pixels
Figure 780222DEST_PATH_IMAGE086
And if the matrix value of other pixel points is 0, the distribution range is the area with the matrix value of 1.
9. The intelligent control method for the dust collection equipment for municipal construction according to claim 8, wherein the specific method for obtaining the working area of the sprayer to which the distribution range of the pixel points with the dust concentration greater than the concentration threshold belongs is as follows:
obtaining the wind speed data, the wind direction data, the power of the spraying machine and the corresponding working area of each spraying machine under different angles according to historical prior data, generating a working area heat matrix, setting the matrix value of pixel points in the working area of the spraying machine to be 1, and marking the pixel points with the matrix value of 1 as pixel points
Figure DEST_PATH_IMAGE087
If the rest is 0, the working area is an area with a matrix value of 1;
adding the heat matrix of the distribution range of the dust raising pixel points and the matrix value corresponding to each position in the heat matrix of the working area of the spraying machine to obtain a control matrix;
for the pixel points corresponding to the matrix value 0 in the control matrix, the pixel points are neither dust-raising pixel points nor pixel points in the working area of the sprayer, and the sprayer does not need to be controlled;
for the pixel point with the matrix value of 1 in the control matrix:
if the pixel point is marked as
Figure 849546DEST_PATH_IMAGE086
The pixel point is a dust raising pixel point but is positioned at a position where the spraying machine can not spray, and a movable ground type dust collector can be installed to process the position; if the pixel point is marked as
Figure 577199DEST_PATH_IMAGE087
The pixel point is in the working area of the sprayer and does not need to be further processed;
for a pixel point corresponding to the matrix value 2 in the control matrix, acquiring coordinates of the pixel point corresponding to the matrix value 2 when the pixel point is not only a dust raising pixel point but also in a working area of the sprayer, judging the working area of the sprayer to which the coordinates belong, and acquiring the sprayer corresponding to the working area, namely the sprayer is the sprayer needing to absorb dust;
and calling the corresponding spray of the working area, and spraying and dust collection are carried out according to the corresponding wind speed data, wind direction data, power of the sprayer and angle of the sprayer.
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